LeRobot-LeKiwi入门教程-校准机械臂

说明：

• 介绍如何校准机械臂

• 需要校准主臂和从臂，车轮电机无需校准

• 注意从臂与主臂的校准动作

步骤：

校准从臂：

• 加载lerobot环境

conda activate lerobot

• 注意：校准从臂前，确保删除之前的校准文件main_follower.json，以防止旧数据干扰新的校准过程

cd ~/lerobot/.cache/calibration/lekiwi
rm main_follower.json

• 在树莓派上，校准从臂（follower arm），每做好一个姿势，就按回车键。将从臂按顺序移动到以下位置

cd ~/lerobot

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --robot.cameras='{}' \
  --control.type=calibrate \
  --control.arms='["main_follower"]'

• 校准生成的文件内容

{"homing_offset": [-2014, 172, -4067, -1353, 2002, -2175, -1023, 3069, 3071], "drive_mode": [0, 1, 0, 0, 1, 0, 0, 1, 1], "start_pos": [2063, 204, 4055, 1362, 2042, 2047, 2046, 2051, 2057], "end_pos": [3038, 852, 5091, 2377, -978, 3199, 2047, -2045, -2047], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR", "DEGREE", "DEGREE", "DEGREE"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper", "left_wheel", "back_wheel", "right_wheel"]}

校准主臂：

• 注意：校准主臂前，确保删除之前的校准文件main_follower.json，以防止旧数据干扰新的校准过程

cd ~/lerobot/.cache/calibration/lekiwi
rm main_leader.json

• 在虚拟机PC，校准主臂（leader arm），每做好一个姿势，就按回车键。将主臂按顺序移动到以下位置

cd ~/lerobot

python lerobot/scripts/control_robot.py \
  --robot.type=lekiwi \
  --robot.cameras='{}' \
  --control.type=calibrate \
  --control.arms='["main_leader"]'

• 校准生成的文件内容

{"homing_offset": [-2001, 3096, -918, -2191, 2021, -2178], "drive_mode": [0, 1, 0, 0, 1, 0], "start_pos": [1991, 3141, 974, 1976, 2007, 2043], "end_pos": [3025, -2072, 1942, 3215, -997, 3202], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}